Zufferey, Jean-ChristopheKlaptocz, AdamBeyeler, AntoineNicoud, Jean-DanielFloreano, Dario2006-06-022006-06-022006-06-02200610.1109/IROS.2006.282436https://infoscience.epfl.ch/handle/20.500.14299/230294WOS:000245452403068We aim at developing ultralight autonomous microflyers capable of navigating within houses or small built environments. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the necessary electronics for airspeed regulation and collision avoidance. This microflyer is equipped with two tiny camera modules, two rate gyroscopes, an anemometer, a small microcontroller, and a Bluetooth radio module. In-flight tests are carried out in a new experimentation room specifically designed for easy changing of surrounding textures.Indoor Flying RobotVision-based NavigationCollision AvoidanceOptic-flowAerial Roboticstext::conference output::conference proceedings::conference paper